PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments

arXiv:2609.18732 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Project page: https://galaxygeneralrobotics.github.io/PASSAGE

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Actor — 19× in this paper · explained in 3 episodes
• Adaptation — 15× in this paper · explained in 1 episode
• Ablation — 10× in this paper · explained in 1 episode
• Transformer — 7× in this paper · explained in 2 episodes
• Consistency — 6× in this paper · explained in 3 episodes
• Regularization — 6× in this paper · explained in 3 episodes
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Flow Matching — 4× in this paper · explained in 8 episodes
• Alignment — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Tokenization — 3× in this paper · explained in 2 episodes
• Adam — 2× in this paper · explained in 2 episodes
• Benchmarking — 2× in this paper · explained in 3 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Decode — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Online Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Transformer Architecture — 1× in this paper · explained in 2 episodes

Sources

• Collision-Free Humanoid Traversal in Cluttered Indoor Scenes
• Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
• Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
• Moving Through Clutter: Scaling Data Collection and Benchmarking for 3D Scene-Aware Humanoid Locomotion via Virtual Reality
• Scaling Behavior Foundation Model for Humanoid Robots
• GMT: General Motion Tracking for Humanoid Whole-Body Control
• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• ExBody2: Advanced Expressive Humanoid Whole-Body Control
• Track Any Motions under Any Disturbances
• KiVi: Kinesthetic-Visuospatial Integration for Dynamic and Safe Egocentric Legged Locomotion
• TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion
• Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
• Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains
• Light-Loco-Parkour: Versatile Perceptive Whole-Body Locomotion via Multi-Skill Distillation
• Visual Imitation Enables Contextual Humanoid Control
• EgoHTR: Egocentric 4D Demonstrations of Human Terrain Traversal
• RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control
• GenTrack: Physical Alignment for Robot-Native Motion Generation and Zero-Shot Humanoid Tracking
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction

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